CN110266223B - Vibration control system and method for motor, and electronic apparatus - Google Patents

Vibration control system and method for motor, and electronic apparatus Download PDF

Info

Publication number
CN110266223B
CN110266223B CN201910397617.4A CN201910397617A CN110266223B CN 110266223 B CN110266223 B CN 110266223B CN 201910397617 A CN201910397617 A CN 201910397617A CN 110266223 B CN110266223 B CN 110266223B
Authority
CN
China
Prior art keywords
motor
module
formula
current
difference
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910397617.4A
Other languages
Chinese (zh)
Other versions
CN110266223A (en
Inventor
向征
郭璇
李涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
AAC Technologies Pte Ltd
Original Assignee
AAC Technologies Pte Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by AAC Technologies Pte Ltd filed Critical AAC Technologies Pte Ltd
Priority to CN201910397617.4A priority Critical patent/CN110266223B/en
Priority to PCT/CN2019/089216 priority patent/WO2020228064A1/en
Publication of CN110266223A publication Critical patent/CN110266223A/en
Application granted granted Critical
Publication of CN110266223B publication Critical patent/CN110266223B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/282—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling field supply only

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention provides a vibration control system of a motor, which comprises: the device comprises a transformation module, a balance module, a first conversion module, a second conversion module, an error calculation module and an adaptive adjustment module. Converting the preset excitation electric signal into expected displacement, and calculating to obtain a driving signal to drive the motor to vibrate; the self-adaptive adjusting module calculates a predicted current according to the driving signal and the motor resistance; calculating the updating amount of the motor parameters according to the difference; and the balancing module recalculates the driving signal according to the motor updating parameter and the expected displacement signal so as to adjust the driving signal output to the motor. The invention also provides a vibration control method of the motor and electronic equipment. The self-adaptive adjusting module obtains motor updating parameters according to a motor closed-loop control technology of actual voltage and actual current detection, and changes of the parameters are offset through the balancing module, so that the purpose of reducing vibration effect distortion is achieved.

Description

Vibration control system and method for motor, and electronic apparatus
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of micromotor control, in particular to a vibration control system and method of a motor and electronic equipment.
[ background of the invention ]
At present, portable devices such as smart phones and tablet computers are increasingly popularized. Providing haptic feedback in portable devices has become an effective way to enhance the user experience. In general, a linear resonant actuator (LRA, abbreviated as a motor) is disposed in the portable device to implement a vibration function, and an excitation voltage is preset to excite the motor to generate a desired vibration effect. However, due to differences in motor units, environments in which the devices are located, how the devices are held, and the like, a preset vibration effect may be distorted, thereby failing to achieve an effect intended by a user.
[ summary of the invention ]
The invention provides a vibration control system and method of a motor and an electronic device, aiming at solving the problem that the vibration effect generates distortion.
To achieve the above object, the present invention provides a vibration control system of a motor, the system comprising: the device comprises a transformation module, a balance module, a first conversion module, a second conversion module, an error calculation module and an adaptive adjustment module;
the transformation module is used for acquiring a preset excitation electric signal output to the motor and calculating the preset excitation electric signal according to a transfer function from the excitation electric signal to the displacement signal transformation to obtain an expected displacement signal;
the equalization module is electrically connected to the transformation module and is used for calculating the expected displacement and the motor update parameters to obtain a driving signal;
the first conversion module is used for performing digital-to-analog conversion on the driving signal and outputting the driving signal to the motor so as to drive the motor;
the second conversion module is used for acquiring the actual voltage and the actual current of the motor under the current driving signal and performing analog-to-digital conversion on the actual voltage and the actual current;
the self-adaptive adjusting module is used for calculating the actual current and the current motor parameter to obtain a predicted current;
the error calculation module is used for calculating the difference between the predicted current and the actual current;
the self-adaptive adjusting module performs parameter iteration according to the difference to obtain a motor updating parameter;
the equalization module recalculates the drive signal according to the motor update parameter and the expected displacement signal.
Further, the transfer function is expressed by a first formula, which is:
Figure GDA0003197582100000021
h (z) is a z-transform of a transfer function of a preset excitation electrical signal into a displacement signal, wherein,
Figure GDA0003197582100000022
Figure GDA0003197582100000023
Figure GDA0003197582100000024
Ω0is the resonant frequency of the motor, fsIs the sampling rate of the analog-to-digital conversion of the conversion module, Q is the quality factor of the conversion module, kdZeta is the damping coefficient of the motor, phi0Is the coefficient of electromagnetic force, RebIs the motor resistance.
Further, the adaptive adjustment module calculates a predicted current for the actual current and the current motor parameter using a second formula, where the second formula is:
Figure GDA0003197582100000025
icpto predict the current, icm[n]Is the actual current ud[n]Is the mechanical speed of the vibrator.
Further, the error calculation module calculates the difference between the predicted current and the actual current using a third equation,
εoei[n]＝icm[n]-icp[n]
wherein epsilonoei[n]Is a difference function representing the difference in motor parameters.
Further, the motor update parameter includes a motor resistance update parameter for updating the motor resistance and an electromagnetic force update coefficient for updating the electromagnetic force coefficient, where the adaptive adjustment module obtains the motor update parameter of the motor resistance by calculating the difference with a fourth formula, and the fourth formula is:
Figure GDA0003197582100000031
the self-adaptive adjusting module calculates the difference by using a fifth formula to obtain a motor updating parameter of the electromagnetic force coefficient, wherein the fifth formula is as follows:
Figure GDA0003197582100000032
wherein the content of the first and second substances,
Figure GDA0003197582100000033
Figure GDA0003197582100000034
are all iterative step sizes, σuAre the adaptive filter pre-term coefficients.
Further, the equalization module calculates the expected displacement and the motor update parameter by using a sixth formula to obtain a driving signal, where the sixth formula is:
Figure GDA0003197582100000035
wherein the content of the first and second substances,
b1-a＝a1，
b2-a＝a2，
Figure GDA0003197582100000036
Figure GDA0003197582100000041
Figure GDA0003197582100000042
wherein omegadAnd QdTo equalize the desired resonant frequency and quality factor, σ, of the modulecIs a gain factor, where σcThe gain factor is obtained according to the following expression:
Figure GDA0003197582100000043
the invention provides a vibration control method of a motor, which comprises the following steps:
acquiring a preset excitation electric signal output to a motor, and calculating the preset excitation electric signal according to a transfer function from the excitation electric signal to the displacement signal to obtain an expected displacement signal;
calculating the expected displacement and the motor updating parameter to obtain a driving signal;
the driving signal carries out digital-to-analog conversion to drive the motor;
acquiring actual voltage and actual current of the motor under a current driving signal and carrying out analog-to-digital conversion on the actual voltage and the actual current;
calculating according to the actual current and the current motor parameter to obtain a predicted current;
calculating a difference between the predicted current and the actual current;
performing parameter iteration according to the difference to obtain a motor updating parameter;
and recalculating the driving signal according to the motor updating parameter and the expected displacement signal.
Further, the adaptive adjusting module performs parameter iteration according to the difference to obtain a motor update parameter, and the specific method comprises the following steps,
and obtaining the compensation quantity according to the difference according to the LMS least mean square algorithm.
Further, the transfer function is identified by a first formula, the first formula being:
Figure GDA0003197582100000051
h (z) is a z-transform of a transfer function of a preset excitation electrical signal into a displacement signal, wherein,
Figure GDA0003197582100000052
Figure GDA0003197582100000053
Figure GDA0003197582100000054
Figure GDA0003197582100000055
Ω0is the resonant frequency of the motor, fsIs the sampling rate of the analog-to-digital conversion of the conversion module, Q is the quality factor of the conversion module, kdZeta is the damping coefficient of the motor, phi0Is the coefficient of electromagnetic force, RebIs the motor resistance.
Further, the calculating the predicted current according to the driving signal and the motor resistance specifically includes calculating the predicted current for the actual current and the current motor parameter by using a second formula, where the second formula is
Figure GDA0003197582100000056
icpTo predict the current, icm[n]For the actual current, ud [ n ]]Is the mechanical speed of the vibrator.
Further, the calculating the difference between the predicted current and the actual current specifically includes calculating the difference between the predicted current and the actual current by using a third formula, where the third formula is:
εoei[n]＝icm[n]-icp[n]
wherein epsilonoei[n]Is a difference function representing the difference in motor parameters.
Further, the motor update parameter includes a motor resistance update parameter for updating the motor resistance and an electromagnetic force update coefficient for updating the electromagnetic force coefficient, where the adaptive adjustment module obtains the motor update parameter of the motor resistance by calculating the difference with a fourth formula, and the fourth formula is:
Figure GDA0003197582100000061
the self-adaptive adjusting module calculates the difference by using a fifth formula to obtain a motor updating parameter of the electromagnetic force coefficient, wherein the fifth formula is as follows:
Figure GDA0003197582100000062
wherein the content of the first and second substances,
Figure GDA0003197582100000063
Figure GDA0003197582100000064
are all iterative step sizes, σuAre the adaptive filter pre-term coefficients.
Further, the recalculating the driving signal according to the motor update parameter and the expected displacement signal specifically includes calculating the motor update parameter and the expected displacement signal according to a sixth formula to obtain a new driving signal, where the sixth formula is:
Figure GDA0003197582100000065
wherein the content of the first and second substances,
b1-a＝a1，
b2-a＝a2，
Figure GDA0003197582100000066
Figure GDA0003197582100000067
Figure GDA0003197582100000071
wherein omegadAnd QdTo equalize the desired resonant frequency and quality factor, σ, of the modulecIs a gain factor, where σcThe gain factor is obtained according to the following expression:
Figure GDA0003197582100000072
the invention also provides electronic equipment which comprises a motor and the vibration control system of the motor.
The invention has the beneficial effects that: the invention provides a vibration control system of a motor, which is used for acquiring motor updating parameters according to a motor closed-loop control technology of actual voltage and actual current detection and acquiring a new driving signal through the operation of a balancing module so as to achieve the purpose of reducing the distortion of a vibration effect and improve the use experience of a user.
[ description of the drawings ]
Fig. 1 is a schematic configuration diagram of a vibration control system of a motor of the present invention.
Fig. 2 is a flow chart illustrating a vibration control method of the motor.
Fig. 3 is a schematic structural diagram of the electronic device of the present invention.
Fig. 4 is a graph showing the variation of a1 in the example of the present invention.
Fig. 5 is a graph showing the variation of a2 in the example of the present invention.
Fig. 6 is a graph showing the variation of the motor resistance Reb according to the embodiment of the present invention.
Fig. 7 is a waveform diagram of vibration of the motor of the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present invention in its various embodiments. However, the technical solution claimed in the present invention can be implemented without these technical details and various changes and modifications based on the following embodiments.
The embodiment of the invention provides a vibration control system and method of a motor and electronic equipment. In the vibration control system of the motor, a driving signal for driving the motor to vibrate drives the motor to vibrate after being adjusted by the transformation module and the equalization module, meanwhile, the compensation amount is calculated by the self-adaptive adjustment module according to the actual voltage and current of the motor, and the compensation amount is sent to the equalization module to continuously adjust the driving signal, so that a closed-loop system is formed, the vibration of the motor is more stable, the distortion caused by the vibration effect is avoided, and the user experience is improved. The vibration control system of the motor is mainly applied to electronic equipment equipped with the motor, wherein the electronic equipment comprises but is not limited to a smart phone, a tablet computer and wearable equipment.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vibration control system of a motor. A vibration control system of a motor of the present invention, the system comprising: the device comprises a transformation module 10, an equalization module 20, a first conversion module 30, a second conversion module 40, an error calculation module 50 and an adaptive adjustment module 60.
The conversion module 10 is connected to a signal source of the excitation electrical signal for obtaining a predetermined excitation electrical signal output to the motor 70Signal vnAnd in dependence on the excitation electrical signal vnAnd calculating the preset excitation electric signal by a transfer function converted from the displacement signal to obtain an expected displacement signal. The preset excitation electric signal vnIs set according to the vibration effect desired by the user.
Specifically, the transfer function is expressed by a first formula, and the first formula is
Figure GDA0003197582100000081
Wherein
Figure GDA0003197582100000082
Figure GDA0003197582100000083
Figure GDA0003197582100000084
Figure GDA0003197582100000085
Ω0Is the resonant frequency of the motor, fsFor the sampling rate of the analog-to-digital conversion in the conversion module 10, Q is the quality factor of the motor, kdIs the stiffness coefficient of the motor.
The equalizing module 20 is electrically connected to the transforming module 10, and is configured to calculate an expected displacement and a motor update parameter to obtain a driving signal; the motor parameters include motor resistance, electromagnetic force coefficient, and the like.
Specifically, the equalizing module 20 uses a sixth formula to calculate the expected displacement and the motor update parameter to obtain the driving signal, where the sixth formula is,
Figure GDA0003197582100000091
wherein the content of the first and second substances,
b1-a＝a1，
b2-a＝a2，
Figure GDA0003197582100000092
Figure GDA0003197582100000093
Figure GDA0003197582100000094
wherein omegadAnd QdTo equalize the desired resonant frequency and quality factor of the module 20, where ΩdAnd QdThe preparation method can be directly carried out. SigmacIs a gain factor, where σcObtaining the gain factor according to the following expression
Figure GDA0003197582100000095
Wherein R iseb、φ0Respectively, the current resistance and electromagnetic force coefficients of the motor 70. Is the coefficient of stiffness, kdIs obtained mainly by the following formula:
kd＝ω0*ω0*md
wherein md is the mass of the motor oscillator, omega0Obtained by the following formula
Figure GDA0003197582100000101
a1、a2Are parameters of the second order model.
The first converting module 30 is configured to perform digital-to-analog conversion on the driving signal and output the driving signal to the motor 70 to drive the motor.
Specifically, the driving signal of the driving motor 70 is transmitted from the equalizing module 20 to the first converting module 30, and the first converting module 30 is a digital-to-analog converter. The driving signal outputted from the equalizing module 20 is converted into digital-analog signal, and then outputted to the motor 70 to drive the motor. In this embodiment, a signal amplifier 80 is also included for amplifying the drive signal to better drive the motor 70.
The second conversion module 40 is used for obtaining the actual voltage v of the motor under the current driving signalcmAnd the actual current icmAnd apply the actual voltage vcmAnd the actual current icmAnd performing analog-to-digital conversion.
Specifically, the second conversion module 40 includes an analog-to-digital converter 40a and an analog-to-digital converter 40b, where the analog-to-digital converter 40a is used for collecting the actual current icmThe analog-to-digital conversion circuit 40b is used for collecting the actual voltage v of the motor 70 driven by the driving signalcm. Wherein the actual current i is measuredcmThe A/D converter 40a at one end is connected to both ends of the high sensitive resistor 402, and the high sensitive resistor 402 is connected in series to one end of the motor 70 for voltage division, so as to avoid the problem of insufficient voltage at both ends of the motor 70 caused by overhigh external voltage of the electronic device, and facilitate the actual current icmDetection of (3).
The error calculation module 50 is used to calculate the predicted current icpAnd the actual current icmThe difference between them.
Specifically, the error calculation module 50 uses a third formula to predict the current icpAnd the actual current icmCalculating to obtain a predicted current icpAnd the actual current icmThe third formula is:
εoei[n]＝icm[n]-icp[n]
wherein epsilonoei[n]Representing the predicted current i as a function of the differencecpAnd the actual current icmThe difference between them.
The third formula transform obtained by sorting is:
Figure GDA0003197582100000111
the adaptive adjusting module 60 is configured to calculate a predicted current i according to the actual voltage and the current motor parametercpAnd will predict the current icpAnd transmitted to the error calculation module 50 for calculation of the difference function.
In particular, the current i is predictedcpThe predicted current is calculated by the adaptive adjusting module 60 according to the current motor parameter for the actual voltage by using a second formula, wherein the second formula is a specific calculation formula as follows:
Figure GDA0003197582100000112
specifically, Reb is the motor resistance, phi0Is the coefficient of electromagnetic force, ud[n]For the mechanical speed of the vibrator, the product of the electromagnetic force and the speed is the back electromotive force EMF brought to the electrical circuit part by the mechanical motion. Displacement xd[n]And velocity ud[n]Classical second-order model modeling is carried out, and the expression is as follows:
xd[n]＝σxfcp[n-1]-a3xd[n-1]-a4xd[n-2]
ud[n]＝σufcp[n]-σufcp[n-2]-a1ud[n-1]-a2ud[n-2]
wherein σu、σxAnd a1、a2As a parameter of a second order model, fcp[n]Is an electromagnetic force, which can be expressed as fcp[n]＝φ0icm[n]。
The adaptive adjustment module 60 further performs parameter iteration according to the difference to obtain a motor update parameter, and transmits the iterative motor update parameter to the equalization module 20, so as to update the motor parameter in the equalization module 20, thereby adjusting the output driving signal.
Specifically, the adaptive adjustment module 60 is a recursive filter, and the adaptive adjustment module 60 calculates the motor update parameter by using the difference between the predicted current and the actual current in combination with an LMS (Least mean square algorithm). The motor update parameters comprise updated motor resistance and an updated electromagnetic force coefficient, wherein the self-adaptive adjusting module calculates the difference by using a fourth formula to obtain a motor resistance value update parameter of the motor resistance, and the fourth formula is as follows:
Figure GDA0003197582100000121
the self-adaptive adjusting module utilizes a fifth formula to calculate the difference to obtain a motor electromagnetic force coefficient updating parameter of the electromagnetic force coefficient, and the fifth formula is as follows:
Figure GDA0003197582100000122
wherein the content of the first and second substances,
Figure GDA0003197582100000123
Figure GDA0003197582100000124
are all iterative step sizes, σuFor the coefficients of the pre-term of the adaptive filter,
when the adaptive adjusting module 60 performs parameter iteration according to the difference to obtain the motor update parameter R of the motor resistanceeb[n+1]Motor update parameter phi of electromagnetic force coefficient0[n+1]Then R iseb[n+1]And phi0[n+1]And adjusting the output driving signal as the current resistance and electromagnetic force coefficient.
By sensing the actual voltage v of the motor 70cmAnd the actual current icmThe feedback is sent to the adaptive adjusting module 60 to obtain the motorThe parameters are updated, and the balancing module 20 adjusts the expected displacement according to the updated parameters of the motor, so that the vibration effect of the motor 70 can better meet the requirements of users, and the influence of external factors on the vibration effect is reduced.
Referring to fig. 2, fig. 2 is a flow chart illustrating a vibration control method of a motor. The vibration control method of the motor is applied to the vibration control system of the motor, and the specific method comprises the following steps:
step 101: and acquiring a preset excitation electric signal output to the motor, and calculating the preset excitation electric signal according to a transfer function from the excitation electric signal to the displacement signal to obtain an expected displacement signal.
Specifically, the transfer function is identified by a first formula, where the first formula is:
Figure GDA0003197582100000125
h (z) is a z-transform of a transfer function of a preset excitation electrical signal into a displacement signal, in the present implementation, the transfer function is used to characterize a linear time-invariant system for controlling the vibration of the motor, and in a discrete domain, the transfer function is the z-transform of the unit impulse response of the excitation electrical signal input by the system, so z is used as a variable for characterization. Wherein
Figure GDA0003197582100000131
Figure GDA0003197582100000132
Figure GDA0003197582100000133
Figure GDA0003197582100000134
Ω0Is the resonant frequency of the motor, fsIs the sampling rate of the analog-to-digital conversion in the conversion module, Q is the quality factor of the motor, kdIs the stiffness coefficient of the motor.
Step S102: and calculating the expected displacement and the motor updating parameter to obtain a driving signal.
Specifically, the motor update parameter and the expected displacement signal are calculated according to a sixth formula to obtain a new driving signal, the sixth formula is calculated according to the following expression,
Figure GDA0003197582100000135
wherein the content of the first and second substances,
b1-a＝a1，
b2-a＝a2，
Figure GDA0003197582100000136
Figure GDA0003197582100000141
Figure GDA0003197582100000142
wherein omegadAnd QdTo equalize the desired resonant frequency and quality factor of the module, where ΩdAnd QdIs directly configured, sigmacIs a gain factor, where σcObtaining the gain factor according to the following expression
Figure GDA0003197582100000143
Wherein R ised、φ0Respectively the current resistance and the electromagnetic force coefficient of the motor. k is a radical ofdFor stiffness coefficient, the compensation amount is calculated in the adaptive adjustment module, and k is calculateddInfluence, get new kdThe value is obtained.
Step S103: and the driving signal carries out digital-to-analog conversion to drive the motor.
Step S104: and acquiring the actual voltage and the actual current of the motor under the current driving signal and carrying out analog-to-digital conversion on the actual voltage and the actual current.
Step S105: and calculating according to the actual current and the current motor parameter to obtain a predicted current.
In particular, icpCalculating the predicted current for the predicted current using a second formula for the actual current and the current motor parameter, the second formula being:
Figure GDA0003197582100000144
specifically, Reb is the motor resistance, phi0Is the coefficient of electromagnetic force, ud[n]For the mechanical speed of the vibrator, the product of the electromagnetic force and the speed is the back electromotive force EMF brought to the electrical circuit part by the mechanical motion. Displacement xd[n]And velocity ud[n]Classical second-order model modeling is carried out, and the expression is as follows:
xd[n]＝σxfcp[n-1]-a1xd[n-1]-a2xd[n-2]
ud[n]＝σufcp[n]-σufcp[n-2]-a1ud[n-1]-a2ud[n-2]
wherein σu、σxAnd a1、a2As a parameter of a second order model, fcp[n]Is an electromagnetic force and can be expressed as
fcp[n]＝φ0icm[n]
Step S106: calculating a difference between the predicted current and the actual current.
Specifically, the difference is obtained by calculating the predicted current and the actual current using a third formula,
εoei[n]＝icm[n]-icp[n]
wherein epsilonoei[n]Is a difference function representing the difference between the predicted current and the actual current.
The arrangement may yield a variation of the third formula:
Figure GDA0003197582100000151
step S107: and carrying out parameter iteration according to the difference to obtain a motor updating parameter.
Specifically, in this embodiment, the adaptive adjustment module 60 is a recursive filter, and the adaptive adjustment module 60 calculates the motor update parameter by using the difference between the predicted current and the actual current in combination with LMS (Least mean square algorithm). The motor update parameters comprise a motor resistance update parameter for updating the motor resistance and an electromagnetic force update coefficient for updating the electromagnetic force coefficient, wherein the adaptive adjustment module calculates the difference by using a fourth formula to obtain the motor update parameter of the motor resistance, and the fourth formula is as follows:
Figure GDA0003197582100000152
the self-adaptive adjusting module calculates the difference by using a fifth formula to obtain a motor updating parameter of the electromagnetic force coefficient, wherein the fifth formula is as follows:
Figure GDA0003197582100000153
wherein the content of the first and second substances,
Figure GDA0003197582100000161
Figure GDA0003197582100000162
are all iterative step sizes, σuAre the adaptive filter pre-term coefficients.
Calculating to obtain iterative motor update parameter R by the formulaed[n+1]、φ0[n+1]。
Step S108: and recalculating the driving signal according to the motor updating parameter and the expected displacement signal. Iterating the parameters according to the difference to obtain a motor update parameter R of the motor resistanceeb[n+1]Motor update parameter phi of electromagnetic force coefficient0[n+1]R is to beebAnd [ n +1 and φ On +1 are used as current resistance and electromagnetic force coefficients to adjust output driving signals.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device 100 according to the present invention, which includes a motor 70 and a vibration control system 200 of the motor according to the above embodiment.
Referring to fig. 4, fig. 4 is a graph showing a variation of a1 in the embodiment of the present invention.
Referring to fig. 5, fig. 5 is a graph showing a variation of a2 in the embodiment of the present invention.
Referring to fig. 6, fig. 6 is a graph illustrating the variation of the motor resistance Reb according to the embodiment of the present invention.
As shown in fig. 4-6 above, it can be seen that the vibration control system using the motor of the present invention can rapidly adjust the motor parameters to rapidly restore the motor to the desired vibration effect.
Referring to fig. 7, fig. 7 is a waveform diagram of vibration of the motor. Where S1 is a vibration waveform diagram of expected motor vibration, S2 is a vibration waveform diagram of a system motor using the embodiment of the present invention, and S3 is a vibration waveform diagram of a motor vibrating without using the system of the present invention. It can be seen that the vibration waveform diagram of the system provided by the embodiment of the invention is almost overlapped with the vibration waveform diagram of the expected motor vibration, and is greatly different from the vibration waveform without the system of the invention. Therefore, the system of the invention can make the motor vibration closer to the expected vibration.
The embodiment provides a vibration control system of a motor, a vibration control method of the motor and an electronic device, wherein a motor closed-loop control technology for detecting actual voltage and actual current is used for obtaining motor update parameters, and a balancing module is used for calculating to obtain a new driving signal, so that the purpose of reducing the distortion of a vibration effect is achieved, the vibration control system of the motor is more stable, and the use experience of a user is improved.
While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.

Claims (8)

1. A vibration control system for a motor, the system comprising: the device comprises a transformation module, a balance module, a first conversion module, a second conversion module, an error calculation module and an adaptive adjustment module;
the transformation module is used for acquiring a preset excitation electric signal output to the motor and calculating the preset excitation electric signal according to a transfer function from the excitation electric signal to the displacement signal transformation to obtain an expected displacement signal; the transfer function is expressed by a first formula, which is:
Figure FDA0003197582090000011
h (z) is a z-transform of a transfer function of a preset excitation electrical signal into a displacement signal, wherein,
Figure FDA0003197582090000012
Figure FDA0003197582090000013
Figure FDA0003197582090000014
Ω0is the resonant frequency of the motor, fsIs the sampling rate of the analog-to-digital conversion of the conversion module, Q is the quality factor of the conversion module, kdZeta is the damping coefficient of the motor, phi0Is the coefficient of electromagnetic force, RebIs a motor resistance;
the equalization module is electrically connected to the transformation module and is used for calculating the expected displacement and the motor update parameters to obtain a driving signal;
the motor update parameters comprise motor resistance update parameters for updating the motor resistance and electromagnetic force update coefficients for updating the electromagnetic force coefficients, wherein the self-adaptive adjusting module obtains the motor update parameters of the motor resistance by calculating the difference of the motor parameters by using a fourth formula, and the fourth formula is as follows:
Figure FDA0003197582090000015
icpto predict the current, ∈oei[n]Is a difference function representing the difference in motor parameters;
the self-adaptive adjusting module calculates the difference by using a fifth formula to obtain a motor updating parameter of the electromagnetic force coefficient, wherein the fifth formula is as follows:
Figure FDA0003197582090000021
wherein the content of the first and second substances,
Figure FDA0003197582090000022
Figure FDA0003197582090000023
are all iterative step sizes, σuFor the adaptive filter antecedent coefficients, icm[n]Is the actual current;
the equalization module calculates the expected displacement and the motor update parameter by using a sixth formula to obtain a driving signal, wherein the sixth formula is as follows:
Figure FDA0003197582090000024
wherein the content of the first and second substances,
b1-a＝a1，
b2-a＝a2，
Figure FDA0003197582090000025
Figure FDA0003197582090000026
Figure FDA0003197582090000027
wherein omegadAnd QdTo equalize the desired resonant frequency and quality factor, σ, of the modulecIs a gain factor, where σcThe gain factor is obtained according to the following expression:
Figure FDA0003197582090000028
the first conversion module is used for performing digital-to-analog conversion on the driving signal and outputting the driving signal to the motor so as to drive the motor;
the second conversion module is used for acquiring the actual voltage and the actual current of the motor under the current driving signal and performing analog-to-digital conversion on the actual voltage and the actual current;
the self-adaptive adjusting module is used for calculating the actual current and the current motor parameter to obtain a predicted current;
the error calculation module is used for calculating the difference between the predicted current and the actual current;
the self-adaptive adjusting module performs parameter iteration according to the difference to obtain a motor updating parameter;
the equalization module recalculates the drive signal according to the motor update parameter and the expected displacement signal.
2. The vibration control system of a motor of claim 1, wherein the adaptive adjustment module calculates a predicted current for the actual current and the current motor parameter using a second formula, the second formula being:
Figure FDA0003197582090000031
ud[n]is the mechanical speed of the vibrator.
3. The vibration control system of a motor according to claim 1, wherein the error calculation module calculates the difference between the predicted current and the actual current using a third formula,
εoei[n]＝icm[n]-icp[n]。
4. a method of vibration control of a motor, the method comprising:
acquiring a preset excitation electric signal output to a motor, and calculating the preset excitation electric signal according to a transfer function from the excitation electric signal to the displacement signal to obtain an expected displacement signal; the transfer function is identified by a first formula, the first formula being:
Figure FDA0003197582090000041
h (z) is a z-transform of a transfer function of a preset excitation electrical signal into a displacement signal, wherein,
Figure FDA0003197582090000042
Figure FDA0003197582090000043
Figure FDA0003197582090000044
Figure FDA0003197582090000045
Ω0is the resonant frequency of the motor, fsFor the sampling rate of the analog-to-digital conversion of the conversion module, Q is the quality factor of the conversion module, kdZeta is the damping coefficient of the motor, phi0Is the coefficient of electromagnetic force, RebIs a motor resistance;
calculating the expected displacement and the motor updating parameter to obtain a driving signal;
the driving signal carries out digital-to-analog conversion to drive the motor;
acquiring actual voltage and actual current of the motor under a current driving signal and carrying out analog-to-digital conversion on the actual voltage and the actual current;
calculating according to the actual current and the current motor parameter to obtain a predicted current;
calculating a difference between the predicted current and the actual current;
performing parameter iteration according to the difference to obtain a motor updating parameter;
recalculating the driving signal according to the motor updating parameter and the expected displacement signal;
the motor update parameters comprise motor resistance update parameters for updating the motor resistance and electromagnetic force update coefficients for updating the electromagnetic force coefficients, wherein the self-adaptive adjusting module utilizes a fourth formula to calculate the difference to obtain the motor resistance update parameters of the motor resistance, and the fourth formula is as follows:
Figure FDA0003197582090000051
icpto predict the current, ∈oei[n]Is a difference function representing the difference in motor parameters;
the self-adaptive adjusting module utilizes a fifth formula to calculate the difference to obtain a motor electromagnetic force coefficient updating parameter of the electromagnetic force coefficient, and the fifth formula is as follows:
Figure FDA0003197582090000052
wherein the content of the first and second substances,
Figure FDA0003197582090000053
Figure FDA0003197582090000054
are all iterative step sizes, σuFor the adaptive filter antecedent coefficients, icm[n]Is the actual current;
the recalculating the driving signal according to the motor update parameter and the expected displacement signal specifically includes calculating the motor update parameter and the expected displacement signal according to a sixth formula to obtain a new driving signal, where the sixth formula is:
Figure FDA0003197582090000055
wherein the content of the first and second substances,
b1-a＝a1，
b2-a＝a2，
Figure FDA0003197582090000056
Figure FDA0003197582090000057
Figure FDA0003197582090000058
wherein omegadAnd QdTo equalize the desired resonant frequency and quality factor, σ, of the modulecIs a gain factor, where σcThe gain factor is obtained according to the following expression:
Figure FDA0003197582090000061
5. the method for controlling vibration of a motor according to claim 4, wherein the adaptive adjustment module performs parameter iteration according to the difference to obtain a motor update parameter, and the specific method comprises,
and obtaining compensation according to the difference according to the LMS least mean square algorithm.
6. The method of claim 4, wherein calculating the predicted current based on the driving signal and the motor resistance comprises calculating the predicted current based on the actual current and the current motor parameter using a second formula
Figure FDA0003197582090000062
icpTo predict the current, icm[n]Is the actual current ud[n]Is the mechanical speed of the vibrator.
7. The method of claim 6, wherein the calculating the difference between the predicted current and the actual current comprises calculating the difference using a third formula, the third formula being:
εoei[n]＝icm[n]-icp[n]
wherein epsilonoei[n]Is a difference function representing the difference in motor parameters.
8. An electronic device comprising a motor and a vibration control system for the motor of any of claims 1-3.
CN201910397617.4A 2019-05-14 2019-05-14 Vibration control system and method for motor, and electronic apparatus Active CN110266223B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201910397617.4A CN110266223B (en) 2019-05-14 2019-05-14 Vibration control system and method for motor, and electronic apparatus
PCT/CN2019/089216 WO2020228064A1 (en) 2019-05-14 2019-05-30 Vibration control system and method for motor, and electronic device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910397617.4A CN110266223B (en) 2019-05-14 2019-05-14 Vibration control system and method for motor, and electronic apparatus

Publications (2)

Publication Number Publication Date
CN110266223A CN110266223A (en) 2019-09-20
CN110266223B true CN110266223B (en) 2021-12-21

Family

ID=67914643

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910397617.4A Active CN110266223B (en) 2019-05-14 2019-05-14 Vibration control system and method for motor, and electronic apparatus

Country Status (2)

Country Link
CN (1) CN110266223B (en)
WO (1) WO2020228064A1 (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021120057A1 (en) * 2019-12-18 2021-06-24 瑞声声学科技(深圳)有限公司 Signal production method, signal production apparatus, vibration motor, and touch screen device
CN111552371B (en) * 2019-12-25 2023-11-03 瑞声科技(新加坡)有限公司 Excitation voltage generation method, device, equipment and medium, test method and system
WO2021128077A1 (en) * 2019-12-25 2021-07-01 瑞声声学科技(深圳)有限公司 Excitation voltage generation method, apparatus and device, medium and test method and system
CN111220263A (en) * 2020-01-15 2020-06-02 上海艾为电子技术股份有限公司 Method and system for detecting resonant frequency of motor
CN111694436B (en) * 2020-06-18 2022-09-02 瑞声科技(新加坡)有限公司 Method and equipment for realizing haptic effect and computer-readable storage medium
CN111957543B (en) * 2020-07-24 2021-04-16 中国飞机强度研究所 Vibration exciter output force control method and control model
CN113282115B (en) * 2021-05-31 2022-03-29 华中科技大学 Phase-shift generalized integral extended state observer, vibration suppression method and system
CN113325311B (en) * 2021-05-31 2022-06-21 歌尔股份有限公司 Method and device for obtaining characteristic parameters of vibration motor and storage medium
CN113283152B (en) * 2021-06-01 2023-05-02 上海艾为电子技术股份有限公司 Adjustment method and driving method of driving electric signal, driving circuit and electronic equipment
CN113655713B (en) * 2021-06-17 2023-08-29 中国人民解放军海军工程大学 Shock resistance optimization method of vibration active control system
CN113949325B (en) * 2021-10-29 2024-04-09 歌尔股份有限公司 Control method, control device, equipment and medium for linear motor

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101114166A (en) * 2007-09-13 2008-01-30 暨南大学 Contour outline control method for complicated track
US20120076343A1 (en) * 2010-09-27 2012-03-29 On Semiconductor Trading, Ltd. Motor drive circuit
CN108415556A (en) * 2018-01-29 2018-08-17 瑞声科技(新加坡)有限公司 Motor vibrations control method and device
CN109194238A (en) * 2018-08-09 2019-01-11 瑞声科技(新加坡)有限公司 A kind of motor control system and method based on current feedback signal
CN109274308A (en) * 2018-08-13 2019-01-25 瑞声科技(新加坡)有限公司 Parameters of hydraulic motor control system and parameters of hydraulic motor control method

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101895241B (en) * 2009-05-22 2013-03-20 台达电子工业股份有限公司 Dual-power motor control system and motor control device thereof
JP2012222950A (en) * 2011-04-08 2012-11-12 Panasonic Corp Compressor motor control device
CN103345037A (en) * 2013-07-04 2013-10-09 聚辰半导体(上海)有限公司 Reshaping signal control method of camera voice coil motor actuator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101114166A (en) * 2007-09-13 2008-01-30 暨南大学 Contour outline control method for complicated track
US20120076343A1 (en) * 2010-09-27 2012-03-29 On Semiconductor Trading, Ltd. Motor drive circuit
CN108415556A (en) * 2018-01-29 2018-08-17 瑞声科技(新加坡)有限公司 Motor vibrations control method and device
CN109194238A (en) * 2018-08-09 2019-01-11 瑞声科技(新加坡)有限公司 A kind of motor control system and method based on current feedback signal
CN109274308A (en) * 2018-08-13 2019-01-25 瑞声科技(新加坡)有限公司 Parameters of hydraulic motor control system and parameters of hydraulic motor control method

Also Published As

Publication number Publication date
WO2020228064A1 (en) 2020-11-19
CN110266223A (en) 2019-09-20

Similar Documents

Publication Publication Date Title
CN110266223B (en) Vibration control system and method for motor, and electronic apparatus
CN113678091B (en) Method and system for improving transducer dynamics
US11736093B2 (en) Identifying mechanical impedance of an electromagnetic load using least-mean-squares filter
CN109274308B (en) Motor parameter control system and motor parameter control method
US11139767B2 (en) Methods and apparatus for driving a transducer
KR102600718B1 (en) Thermal model of the transducer for thermal protection and resistance estimation
CN105916079B (en) A kind of nonlinear loudspeaker compensation method and device
CN104980877B (en) The device and method of identification and the Non-Linear Vibration in compensation electromechanical transducer
WO2022208042A1 (en) Circuitry for estimating displacement of a piezoelectric transducer
WO2002021879A2 (en) Digital system to compensate power compression of loudspeakers
WO2007013622A1 (en) Loudspeaker device
CN103327437A (en) A loudspeaker drive circuit for determining loudspeaker characteristics and/or diagnostics
CN102843633A (en) Control of loudspeaker output
CN110350828B (en) Motor parameter tracking method and system
JP2007081815A (en) Loudspeaker device
CN113938082B (en) Control method, control device, equipment and medium for linear motor
CN111030547A (en) Motor excitation signal processing method and device
WO2018075442A1 (en) Armature-based acoustic receiver having improved output and method
US11228284B2 (en) Controlling parameters of an amplifier system based on a measured physical quantity
US20230144960A1 (en) Compensating for current splitting errors in a measurement system
CN113906672A (en) Avoiding clipping in audio power transmission by predicting available power source energy
Nakao et al. An estimation method of parameters for closed-box loudspeaker system
CN110247612B (en) Motor closed-loop control system and method
CN113382347B (en) Parameter identification method for nonlinear fractional order loudspeaker
Lee et al. The filtered-x least mean fourth algorithm for active noise control and its convergence analysis

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant